26 lines
1.3 KiB
Plaintext
26 lines
1.3 KiB
Plaintext
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# MetaWorld Wrappers
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These are the Environment Wrappers for selected [Metaworld](https://meta-world.github.io/) environments in order to use our Motion Primitive gym interface with them.
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All Metaworld environments have a 39 dimensional observation space with the same structure. The tasks differ only in the objective and the initial observations that are randomized.
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Unused observations are zeroed out. E.g. for `Button-Press-v2` the observation mask looks the following:
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```python
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return np.hstack([
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# Current observation
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[False] * 3, # end-effector position
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[False] * 1, # normalized gripper open distance
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[True] * 3, # main object position
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[False] * 4, # main object quaternion
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[False] * 3, # secondary object position
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[False] * 4, # secondary object quaternion
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# Previous observation
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[False] * 3, # previous end-effector position
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[False] * 1, # previous normalized gripper open distance
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[False] * 3, # previous main object position
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[False] * 4, # previous main object quaternion
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[False] * 3, # previous second object position
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[False] * 4, # previous second object quaternion
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# Goal
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[True] * 3, # goal position
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])
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```
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For other tasks only the boolean values have to be adjusted accordingly.
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